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lhble 3.7 Form of the Naturat Responsefor Dt LTt Systems.

Rootof Characteristl.Equation
I(ealand distinct root r
Complexcor\iugare
rexp(jd)
Realrepeatedroor (r),
Complex,
repeated[rexp(jd)],

Form ofNaturat Response


C(r)tl
ICr cos(n0)+ Crsin(nd)l(r),,
lKa+ Ktn+ K2n2+... + Kpnp)t)n
(C0+ Cln + C2n2+ . . . + Cpnp)cos(nl)(r)n
+ ( D a+ D t n + D ? n z+ . . . + D r n p ) s i n ( n d ) ( r ) ,

Table 3.8 Form of the Forced Response for DT LTI Systems.


Nore: lf rhe RHSinvolvesfie form (d)tr where cr is alsoa
root ofthe characterkcic
equadonrepearedrtimes,the forced
response
form musrbe mulciplied
by n'.
Foicing fun.tlor (RHS)

Form of forced rerponse

C (constan0

Ct (constan0

(d)n,(r + roo( of

K(d),

characteristic
equation
cos(r9+p)
( d ) "c o s ( n 0+ f )
n

fi:lcos(no)+Kzsin(nd)orKcos(nd+.p)
[Krcos(r0)+(2sin(nd)](d)"
K0 + Krn (gcncralfirsaorderpolynomjal)

nP
n(d)'
n pl d ) n
ncos(n9+6)

K o + ; i l n + K 2 n 2 +. + K r n P
(t(o+ Kr n)(rY)"
(K0+i:tn+Ktn,+...+K/nr)(.y)n
(Kt+Krn)cos(no)+(,(3+Krr)sin(nO)

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